Controller, system, assembling apparatus, and moving body

Abstract

To properly assemble components even when the components cannot be assembled through moving assembly.SOLUTION: A controller that controls assembly of components into a moving body in a manufacturing process of the moving body includes an information acquisition unit that acquires first information, which is information concerning the fact that an assembling apparatus which performs moving assembly that is assembly of components into a moving body which moves through unmanned operation has failed to assemble components, a first instruction unit that, when the first information has been acquired, issues a first instruction of deceleration or halt to the moving body, and a second instruction unit that, after the first instruction has been transmitted, issues a second instruction of re-assembly, which is assembly of components into the decelerated or halted moving body, to the assembling apparatus.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a control device, a system, an assembly device, and a moving body. [Background technology]

[0002] BACKGROUND ART In a vehicle manufacturing process, a technology for remotely controlling a vehicle to operate unmanned is known (for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Special Publication No. 2017-538619 Summary of the Invention [Problem to be solved by the invention]

[0004] In the vehicle manufacturing process, mobile assembly is being considered, in which a robot is controlled to assemble parts onto a moving vehicle. However, Patent Document 1 does not fully consider how to deal with the case where such mobile assembly fails. This problem is not limited to vehicles, but is common to any moving body. [Means for solving the problem]

[0005] The present disclosure can be realized in the following forms.

[0006] (1) According to one aspect of the present disclosure, there is provided a control device for controlling assembly of parts onto a moving body in a manufacturing process of the moving body, the control device including: an information acquisition unit that acquires first information that is information relating to an assembly device that performs mobile assembly, which is assembly of the part onto the moving body that is moving in an unmanned manner, being unable to assemble the part; The apparatus includes a first instruction unit that issues a first instruction to the moving body to slow down or stop when the first information is acquired, and a second instruction unit that issues a second instruction to the assembly device after transmitting the first instruction to instruct the assembly device to reassemble the part onto the moving body that has slowed down or stopped. According to this aspect of the control device, if a part cannot be assembled to the moving body by moving assembly, a first instruction to slow down or stop the moving body is transmitted to the moving body, and a second instruction to reassemble the part is transmitted to the assembly device. Therefore, even if a part cannot be assembled to the moving body by moving assembly, the moving body can be slowed down or stopped to reduce the difficulty of assembling the part, and an attempt can be made to reassemble the part, thereby enabling the part to be properly assembled to the moving body. (2) In the above embodiment, when the first information is acquired, the first instruction unit may further instruct a subsequent moving body, which is another moving body moving following the moving body, to slow down or stop. According to this type of control device, if moving assembly cannot be performed, the subsequent moving body is instructed to slow down or stop, thereby preventing the distance between the moving body that could not be moved and assembled and the subsequent moving body from becoming smaller. (3) In the above embodiment, when the part can be assembled to the moving body by the reassembly, the moving body may be further instructed to accelerate or resume movement. According to this type of control device, if the parts can be assembled through reassembly control, the vehicle resumes or accelerates its travel, thereby preventing the time required to manufacture the moving body from increasing compared to a type in which the vehicle continues to decelerate or stop. (4) In the above embodiment, if the part cannot be assembled to the moving body through the reassembly, the first instruction unit may further perform at least one of instructing the moving body to continue in a decelerated or stopped state, and instructing a subsequent moving body, which is another moving body moving after the moving body, to decelerate or stop. According to this type of control device, if the part cannot be assembled to the moving body through reassembly, the control device further performs at least one of the following: instructing the moving body to continue in a slower or stopped state, or instructing a subsequent moving body, which is another moving body traveling following the moving body, to slow down or stop.Therefore, in a situation where reassembly is not possible, i.e., a situation where there is a risk of some kind of abnormality, the movement of the moving body or the subsequent moving body can be suppressed. (5) In the above embodiment, the assembly device may further include an operation control signal generation unit that generates an operation control signal for operating the assembly device, and the second instruction unit may transmit the operation control signal to the assembly device as the second instruction. According to the control device of this aspect, the control device generates the operation control signal and transmits it to the assembly device, so that the control on the assembly device side can be prevented from becoming complicated. (6) According to another aspect of the present disclosure, there is provided a system comprising: the control device according to any one of aspects 1 to 4; and the assembly device, wherein the assembly device comprises a receiving unit that receives the second instruction, an operation control signal generating unit that receives the second instruction and generates an operation control signal for operating the assembly device, and a device control unit that controls the operation of the assembly device in accordance with the operation control signal. According to the system of this embodiment, the operation control signal is generated in the assembly device, so that the control on the control device side can be prevented from becoming complicated. (7) According to another aspect of the present disclosure, there is provided an assembly device for assembling a part onto a moving body, the assembly device including a device control unit that, when the part could not be assembled onto the moving body while the moving body is moving in an unmanned operation, executes reassembly, i.e., assembly of the part onto the moving body that has slowed down or stopped. With this type of assembly device, even if a part cannot be assembled to a moving body by moving assembly, it is possible to slow down or stop the moving body, thereby reducing the difficulty of assembling the part, and attempt to reassemble the part to the moving body, thereby allowing the part to be properly assembled. (8) In the above embodiment, an operation control signal generation unit may be provided that generates an operation control signal for operating the assembly device, and the device control unit may perform the reassembly in accordance with the operation control signal generated by the operation control signal generation unit. According to the assembling device of this aspect, the operation control signal is generated in the assembling device, so that the control on the control device side can be prevented from becoming complicated. (9) According to another aspect of the present disclosure, there is provided a mobile body capable of moving in an unmanned manner in its own manufacturing process, the mobile body including a mobile body control unit that executes the following: decelerating or stopping the mobile body when a moving assembly, which is the assembly of a part to the mobile body while the mobile body is moving in the unmanned manner, fails; and accelerating or restarting the movement, when a reassembly, which is the assembly of the part to the decelerated or stopped mobile body, succeeds in assembling the part to the mobile body. With this type of moving body, even if a part cannot be assembled to the moving body by moving assembly, it is possible to slow down or stop the moving body and attempt to reassemble the part in a state where the difficulty of assembling the part is reduced, thereby allowing the part to be properly assembled to the moving body. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 is an explanatory diagram showing a system configuration according to a first embodiment. [Figure 2] FIG. 1 is an explanatory diagram showing the configuration of a vehicle in a first embodiment. [Figure 3] FIG. 2 is an explanatory diagram showing the configuration of a server device in the first embodiment. [Figure 4] FIG. 2 is an explanatory diagram showing the configuration of an assembly robot according to the first embodiment. [Figure 5] FIG. 1 is an explanatory diagram showing a state in which a vehicle runs unmanned in a factory. [Figure 6] 4 is a flowchart showing a processing procedure for driving control of a vehicle 100 in the first embodiment. [Figure 7] 4 is a flowchart showing a procedure for part assembly control in the first embodiment. [Figure 8] 4 is a flowchart showing a procedure for part assembly control in the first embodiment. [Figure 9] FIG. 10 is an explanatory diagram showing the configuration of an assembly robot according to a second embodiment. [Figure 10] FIG. 10 is a block diagram showing the configuration of a system according to a third embodiment. [Figure 11] 10 is a flowchart showing a processing procedure for vehicle travel control in a third embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0008] A. First embodiment: A-1. System Configuration: FIG. 1 is an explanatory diagram showing the configuration of a system 10 according to a first embodiment. The system 10 is used, for example, in a factory KJ that manufactures vehicles 100 as moving bodies. In this disclosure, the term "moving body" refers to a movable object, such as a car or an electric vertical take-off and landing aircraft (a so-called flying car). The vehicle may be a wheeled vehicle or a tracked vehicle, such as a passenger car, truck, bus, motorcycle, automobile, tank, or construction vehicle. The vehicle includes an electric vehicle (BEV: Battery Electric Vehicle), a gasoline-powered vehicle, a hybrid vehicle, and a fuel cell vehicle. When the moving body is something other than a vehicle, the terms "vehicle" and "car" in this disclosure may be appropriately replaced with "moving body," and the term "traveling" may be appropriately replaced with "moving."

[0009] The system 10 includes a server device 200, at least one external sensor 250, and an assembly robot 300. The system 10 controls the assembly of parts into the vehicle 100 in a factory KJ where the vehicle 100 is manufactured. The vehicle 100 is configured to be capable of traveling in an unmanned manner. The vehicle 100 can travel in an unmanned manner even when the vehicle 100 is in the middle of its own manufacturing process. In the system 10, the assembly robot 300 performs the assembly work of parts on the vehicle 100 traveling in an unmanned manner. In this embodiment, the vehicle 100 travels in an unmanned manner in the form of a so-called platform.

[0010] In order for the vehicle 100 in the form of a platform to perform the three functions of "running," "turning," and "stopping" through unmanned driving, it is sufficient for it to be equipped with at least a control device that controls the driving of the vehicle 100 and actuators such as a drive unit, a steering unit, and a braking unit. When the vehicle 100 acquires information from the outside for unmanned driving, the vehicle 100 may further be equipped with a communication device. In other words, the vehicle 100 that can travel through unmanned driving may not be equipped with at least some of its interior parts, such as a driver's seat and a dashboard, at least some of its exterior parts, such as bumpers and fenders, or a body shell. In this case, the remaining parts, such as the body shell, may be attached to the vehicle 100 before it is shipped from the factory KJ, or the remaining parts, such as the body shell, may be attached to the vehicle 100 after it is shipped from the factory KJ without the remaining parts, such as the body shell. Each part may be mounted from any direction, such as the top, bottom, front, rear, right or left side of the vehicle 100, and may be mounted from the same direction or from different directions.

[0011] In this disclosure, "unmanned driving" refers to driving that is not performed by a passenger aboard the vehicle 100. "Driving operation" refers to an operation related to at least one of "driving," "turning," and "stopping" of the vehicle 100. Unmanned driving is achieved by automatic or manual remote control using a device located outside the vehicle 100, or by autonomous control of the vehicle 100. A passenger who does not perform driving operations may be on board the vehicle 100 that is traveling in an unmanned driving mode. Passengers who do not perform driving operations include, for example, a person who simply sits in the driver's seat of the vehicle 100 or a person who performs an action other than driving operations. Actions other than driving operations include, for example, assembling parts for the vehicle 100, inspecting the vehicle 100, and operating switches installed on the vehicle 100. Note that driving performed by a passenger performing driving operations is sometimes referred to as "manned driving."

[0012] 2 is an explanatory diagram showing the configuration of a vehicle 100 in this embodiment. The vehicle 100 includes a vehicle control device 110 for controlling each part of the vehicle 100, an actuator group 120 including at least one actuator that is driven under the control of the vehicle control device 110, and a communication device 130 for communicating with a server device 200 via wireless communication. In this embodiment, the actuator group 120 includes an actuator of a drive device for accelerating the vehicle 100, an actuator of a steering device for changing the direction of travel of the vehicle 100, and an actuator of a braking device for decelerating the vehicle 100. The drive device includes a battery, a traction motor driven by power from the battery, and wheels that are rotated by the traction motor. The actuator of the drive device includes the traction motor.

[0013] The vehicle control device 110 is configured by a computer including a processor 111, a memory 112, an input / output interface 113, and an internal bus 114. The processor 111, the memory 112, and the input / output interface 113 are connected via the internal bus 114 to enable bidirectional communication. The input / output interface 113 is connected to an actuator group 120 and a communication device 130. The processor 111 executes a program PG1 stored in the memory 112 to realize various functions including a function as a vehicle control unit 115.

[0014] The vehicle control unit 115 controls the actuator group 120 to cause the vehicle 100 to travel. The vehicle control unit 115 controls the actuator group 120 using a travel control signal received from the server device 200 to cause the vehicle 100 to travel. The travel control signal is a control signal for causing the vehicle 100 to travel. In this embodiment, the travel control signal includes the acceleration and steering angle of the vehicle 100 as parameters. In other embodiments, the travel control signal may include the speed of the vehicle 100 as a parameter instead of or in addition to the acceleration of the vehicle 100. Furthermore, when a passenger is on board the vehicle 100, the vehicle control unit 115 controls the actuator group 120 in accordance with the driving operation of the passenger to cause the vehicle 100 to travel. Furthermore, regardless of whether a passenger is on board the vehicle 100, the vehicle control unit 115 controls the actuator group 120 in accordance with the travel control signal received from the server device 200 to cause the vehicle 100 to travel. The vehicle control unit 115 corresponds to a "mobile object control unit" in this disclosure.

[0015] FIG. 3 is an explanatory diagram showing the configuration of the server device 200 in this embodiment. The server device 200 is configured by a computer including a processor 201, a memory 202, an input / output interface 203, and an internal bus 204. The processor 201, the memory 202, and the input / output interface 203 are connected via the internal bus 204 to enable bidirectional communication. A communication device 205 is connected to the input / output interface 203 for communicating with the vehicle 100 via wireless communication. In this embodiment, the communication device 205 can communicate with the external sensor 250 and the assembly robot 300 via wired or wireless communication. The processor 201 executes a program PG2 pre-stored in the memory 202 to function as a calculation unit 210, a vehicle control command unit 212, an error information acquisition unit 214, a stop command unit 216, and a robot control command unit 218. The server device 200 corresponds to the "control device" in this disclosure.

[0016] In this embodiment, the calculation unit 210 calculates vehicle position information using the detection results output from the external sensor 250. The vehicle position information includes information on the position and orientation of the vehicle 100. The vehicle control command unit 212 generates a vehicle control command using the vehicle position information. The vehicle control command unit 212 creates the above-mentioned driving control signal as the vehicle control command.

[0017] The error information acquisition unit 214 acquires assembly error information and switches the state of the stop flag SF stored in the memory 202 between ON and OFF depending on the assembly error information. "Assembly error information" refers to information related to an assembly error. An "assembly error" refers to a state in which a part is not properly assembled to the vehicle 100 even though the assembly robot 300 has performed a part assembly operation. In other words, the assembly error information refers to information indicating that the assembly robot 300 was unable to assemble the part to the vehicle 100. In this embodiment, the error information acquisition unit 214 acquires, as the assembly error information, an error signal output from the assembly robot 300, as described below. The "stop flag SF" refers to a flag indicating the occurrence of an assembly error in the system 10. Specific aspects of switching the stop flag SF will be described later. The assembly error information corresponds to "first information" in this disclosure. The error information acquisition unit 214 corresponds to "information acquisition unit" in this disclosure.

[0018] When assembly error information is acquired, the stop instruction unit 216 transmits a stop signal to the vehicle 100 instructing it to stop. In the present embodiment, the stop signal is an emergency stop signal instructing the vehicle 100 to make an emergency stop, and may be generated regardless of the detection result of the external sensor 250. Therefore, when assembly error information is acquired, the stop instruction unit 216 can quickly instruct the vehicle 100 to make an emergency stop regardless of the detection result by the external sensor 250. When the vehicle control unit 115 receives the stop signal, it controls the actuator group 120 to stop the vehicle 100. In other words, the stop signal corresponds to a "first instruction" in this disclosure, and the stop instruction unit 216 corresponds to a "first instruction unit" in this disclosure.

[0019] The robot control command unit 218 creates an operation control signal for operating the assembly robot 300 and transmits it to the assembly robot 300. Upon receiving the operation control signal, the assembly robot 300 operates in accordance with the operation control signal. In the following description, the operation control signal that instructs the assembly robot 300 to assemble a part onto the vehicle 100 is also referred to as an "assembly command." The operation control signal in this embodiment is created as a signal that specifically instructs the amount of movement of each part that constitutes the assembly robot 300. The robot control command unit 218 in this embodiment corresponds to the "operation control signal creation unit."

[0020] In this embodiment, the robot control command unit 218 generates an operation control signal for the assembly robot 300 so that the assembly robot 300 performs assembly work while the vehicle 100 is moving in an unmanned driving state. In the following description, this type of assembly of a part onto the vehicle 100 that is moving in an unmanned driving state is also referred to as "mobile assembly." In mobile assembly, the work is performed while the vehicle 100 is moving, so that the work can be performed without impairing the manufacturing speed. The robot control command unit 218 generates an operation control signal so that the part is assembled at a predetermined position in a predetermined orientation on the moving vehicle 100, and so that the relative speed between the vehicle 100 and the part during assembly in a direction parallel to the surface of the vehicle 100 to which the part is to be assembled is zero.

[0021] The external sensor 250 is located outside the vehicle 100. The external sensor 250 is used to detect the position and orientation of the vehicle 100. In this embodiment, the external sensor 250 is a camera installed in the factory KJ. The external sensor 250 includes a communication device (not shown) and can communicate with the server device 200 via wired communication or wireless communication. Note that the external sensor 250 is not limited to a camera and may be, for example, a LiDAR.

[0022] FIG. 4 is an explanatory diagram showing the configuration of an assembly robot 300 according to this embodiment. The assembly robot 300 includes a robot control device 310, an arm unit 320, and a communication device 330. In this embodiment, the robot control device 310 controls each component of the assembly robot 300. The arm unit 320 is a vertically articulated robot arm. An end effector for gripping a component is attached to the tip of the arm unit 320. In this embodiment, the end effector is configured to clamp the component. The communication device 330 can communicate with the server device 200 via wired or wireless communication. The arm unit 320 is not limited to a vertically articulated robot arm, and may be, for example, a horizontally articulated robot arm, an orthogonal robot arm, or a parallel link robot arm. The end effector may be configured to pick up the component rather than clamp it. Although not shown, the assembly robot 300 is equipped with sensors that detect the motor load for driving the arm unit 320 and the impact force during component assembly. The assembly robot 300 corresponds to the "assembly device" in this disclosure.

[0023] The robot control device 310 is configured by a computer including a processor 311, a memory 312, an input / output interface 313, and an internal bus 314. The processor 311, the memory 312, and the input / output interface 313 are connected via the internal bus 314 to enable bidirectional communication. The input / output interface 313 is connected to an arm unit 320 and a communication device 330.

[0024] In this embodiment, the processor 311 functions as a robot control unit 315 by executing a program PG3 pre-stored in the memory 312. The robot control unit 315 receives operation control signals and controls each unit of the assembly robot 300, including the arm unit 320, in accordance with the operation control signals. The robot control unit 315 corresponds to the "receiving unit" and the "device control unit" in this disclosure.

[0025] Furthermore, the robot control unit 315 outputs an error signal if an error occurs in assembling a part into the vehicle 100. Possible cases where an assembly error occurs include when the part assembly position is not set appropriately or when an error occurs in detecting the position of the vehicle 100. For example, if the motor load or the impact force during part assembly is not within a predetermined threshold range, the robot control unit 315 outputs an error signal, indicating that an assembly error has occurred.

[0026] 5 is an explanatory diagram showing a state in which a vehicle 100 travels in an unmanned manner in a factory KJ. In this embodiment, the factory KJ includes a first location PL1, a second location PL2, and a third location PL3. The first location PL1, the second location PL2, and the third location PL3 are connected by a travel path SR along which the vehicle 100 can travel. In the factory KJ, a plurality of external sensors 250 are installed along the travel path SR.

[0027] The first location PL1 is a location where work to assemble the vehicle 100 is carried out. The vehicle 100 assembled at the first location PL1 is in a state where it can travel by unmanned driving, in other words, it is in a state where it can perform the three functions of "running," "turning," and "stopping" by unmanned driving. In this embodiment, the vehicle 100 assembled at the first location PL1 is in the form of a platform. The vehicle 100 moves from the first location PL1 to the second location PL2 by unmanned driving.

[0028] The second location PL2 is a location where further work is performed to assemble parts to the vehicle 100. An assembly robot 300 is located at the second location PL2. Parts assembled at the second location PL2 include, for example, body parts, interior parts such as seats, headlamps, and wipers. In this embodiment, the vehicle 100 with parts assembled at the second location PL2 is in the form of a completed vehicle. The vehicle 100 moves from the second location PL2 to the third location PL3 in an unmanned operation.

[0029] The third location PL3 is a location where work to inspect the vehicle 100 is carried out. Vehicles 100 that pass the inspection at the third location PL3 are shipped from the factory KJ. Note that the vehicle 100 shipped from the factory KJ does not have to be in the form of a completed vehicle. In other words, the vehicle 100 shipped from the factory KJ may have parts that have not been installed. In this case, the parts that have not been installed may be installed on the vehicle 100 after the vehicle 100 is shipped from the factory KJ.

[0030] A-2. Driving control: FIG. 6 is a flowchart showing the processing procedure for driving control of the vehicle 100 in the first embodiment. In step S1, the calculation unit 210 acquires vehicle position information of the vehicle 100 using the detection results output from the external sensor 250. The vehicle position information is position information that serves as the basis for generating a driving control signal. In this embodiment, the vehicle position information includes the position and orientation of the vehicle 100 in the global coordinate system GA of the factory KJ. Specifically, in step S1, the calculation unit 210 acquires the vehicle position information using a captured image acquired from a camera, which is the external sensor 250.

[0031] In detail, in step S1, the calculation unit 210, for example, detects the outer shape of the vehicle 100 from the captured image, calculates the coordinates of the positioning point of the vehicle 100 in the coordinate system of the captured image, i.e., the local coordinate system, and converts the calculated coordinates into coordinates in the global coordinate system GA, thereby acquiring the position of the vehicle 100. The outer shape of the vehicle 100 contained in the captured image can be detected, for example, by inputting the captured image into a detection model DM that utilizes artificial intelligence. The detection model DM is prepared, for example, inside or outside the system 10 and pre-stored in the memory 202 of the server device 200. The detection model DM may be, for example, a trained machine learning model that has been trained to achieve either semantic segmentation or instance segmentation. For example, a convolutional neural network (hereinafter, CNN) trained by supervised learning using a training dataset may be used as this machine learning model. The training dataset includes, for example, a plurality of training images including the vehicle 100, and labels indicating whether each region in the training images represents the vehicle 100 or a region other than the vehicle 100. During CNN training, it is preferable to update the parameters of the CNN using backpropagation (backpropagation) to reduce the error between the output result of the detection model DM and the label. Furthermore, the calculation unit 210 can acquire the orientation of the vehicle 100 by estimating the orientation based on the orientation of the movement vector of the vehicle 100 calculated from the positional changes of feature points of the vehicle 100 between frames of captured images using, for example, an optical flow method.

[0032] In step S2, the vehicle control command unit 212 determines a target position to which the vehicle 100 should next head. In this embodiment, the target position is represented by X, Y, and Z coordinates in the global coordinate system GA. A reference route RR, which is a route along which the vehicle 100 should travel, is stored in advance in the memory 202 of the server device 200. The route is represented by nodes indicating the departure point, nodes indicating passing points, nodes indicating the destination, and links connecting the nodes. The vehicle control command unit 212 uses the vehicle position information and the reference route RR to determine a target position to which the vehicle 100 should next head. The vehicle control command unit 212 determines a target position on the reference route RR that is ahead of the current location of the vehicle 100.

[0033] In step S3, the vehicle control command unit 212 generates a travel control signal for driving the vehicle 100 toward the determined target position. The vehicle control command unit 212 calculates the travel speed of the vehicle 100 from the change in the position of the vehicle 100 and compares the calculated travel speed with the target speed. When the travel speed is lower than the target speed, the vehicle control command unit 212 determines an acceleration such that the vehicle 100 accelerates. When the travel speed is higher than the target speed, the vehicle control command unit 212 determines an acceleration such that the vehicle 100 decelerates. Furthermore, when the vehicle 100 is located on the reference route RR, the vehicle control command unit 212 determines a steering angle and acceleration such that the vehicle 100 does not deviate from the reference route RR. When the vehicle 100 is not located on the reference route RR, in other words, when the vehicle 100 has deviated from the reference route RR, the vehicle control command unit 212 determines a steering angle and acceleration such that the vehicle 100 returns to the reference route RR.

[0034] In step S4, the vehicle control command unit 212 transmits the generated driving control signal to the vehicle 100. The vehicle control command unit 212 repeats, at a predetermined cycle, obtaining the position of the vehicle 100, determining the target position, generating the driving control signal, and transmitting the driving control signal.

[0035] In step S5, vehicle control unit 115 receives the driving control signal transmitted from server device 200. In step S6, vehicle control unit 115 controls actuator group 120 using the received driving control signal, thereby causing vehicle 100 to drive at the acceleration and steering angle indicated in the driving control signal. Vehicle control unit 115 repeats receiving the driving control signal and controlling actuator group 120 at a predetermined cycle. According to system 10 in this embodiment, vehicle 100 can be driven by remote control, and vehicle 100 can be moved without using transportation equipment such as a crane or conveyor.

[0036] A-3. Parts assembly control: 7 and 8 are flowcharts showing the procedure of the part assembly control of the first embodiment. In this embodiment, the above-described traveling control is executed as the basic control, and this control is executed in combination with the traveling control. The control shown in FIG. 7 and the control shown in FIG. 8 are started when the system 10 is in an operating state, and are repeatedly executed in parallel with each other while the system 10 is operating.

[0037] The part assembly control shown in Fig. 7 will be described. As shown in Fig. 7, steps S102 to S114 are executed in the server device 200. In step S102, the stop instruction unit 216 determines whether the state of the stop flag SF is ON. If it is determined that the state of the stop flag SF is ON (step S102: Yes), in step S114, the stop instruction unit 216 transmits a stop instruction to the vehicle 100. Thereafter, step S102 is executed again.

[0038] If it is determined that the stop flag SF is not ON (step S102: No), in other words, if the stop flag SF is OFF, then in step S104, the calculation unit 210 acquires the detection result of the external sensor 250. Furthermore, in step S106, the calculation unit 210 calculates vehicle position information using the detection result of the external sensor 250.

[0039] In step S108, the vehicle control command unit 212 uses the vehicle position information to create a vehicle control command and transmits it to the vehicle 100. Thereafter, the above-described step S102 is executed again.

[0040] In step S110, the robot control command unit 218 determines whether the vehicle 100 is located at a predetermined part assembly position. The "part assembly position" refers to a position that is set in advance as a position where the assembly robot 300 starts assembling parts onto the vehicle 100 in the manufacturing process of the vehicle 100.

[0041] If it is determined that the vehicle 100 is located at the part assembling position (step S110: Yes), in step S112, the robot control command unit 218 creates an assembly instruction and transmits it to the assembly robot 300. Thereafter, the above-mentioned step S102 is executed again.

[0042] If it is determined that the vehicle 100 is not located at the part assembly position (step S110: No), step S102 is executed again. In other words, if the vehicle 100 has not yet reached the part assembly position, the vehicle 100 continues to be controlled to travel toward the part assembly position. Thereafter, the above-described step S102 is executed again.

[0043] The part assembly control shown in Fig. 8 will be described. The control shown in Fig. 8 is executed in parallel with the control shown in Fig. 7. As shown in Fig. 8, steps S202 to S212 are executed in the server device 200, and steps S302 to S310 are executed in the assembly robot 300.

[0044] 8, error information acquisition unit 214 determines whether or not an error signal has been received. If it is determined that an error signal has not been received (step S202: No), error information acquisition unit 214 repeatedly executes step S202.

[0045] If it is determined that an error signal has been received (step S202: Yes), in step S204, the stop instruction unit 216 transmits a stop signal to the vehicle 100, and the error information acquisition unit 214 switches the state of the stop flag SF to ON.

[0046] In step S206, the robot control command unit 218 creates an assembly instruction and transmits it to the assembly robot 300. That is, in this embodiment, if the mobile assembly fails, the robot control command unit 218 stops the vehicle 100 and then instructs the robot to assemble parts into the stopped vehicle 100 (hereinafter also referred to as "reassembly"). That is, the assembly instruction in this step corresponds to a "second instruction" in this disclosure, and the robot control command unit 218 corresponds to a "second instruction unit" in this disclosure. In the following description, the assembly of parts into the stopped vehicle 100, such as the reassembly control in this step, is also referred to as "stopped assembly."

[0047] In step S208, stop instruction unit 216 determines whether or not an error signal has been received. If it is determined that an error signal has not been received (step S208: No), in step S210, vehicle control command unit 212 transmits a traveling restart instruction to vehicle 100 to instruct it to resume traveling, and error information acquisition unit 214 switches the state of stop flag SF to OFF.

[0048] If it is determined that an error signal has been received (step S208: No), the vehicle control command unit 212 sends a stop instruction to the vehicle 100, in other words, instructs the vehicle 100 to continue in the stopped state, and contacts the manager. Here, the "manager" is not limited to the person who oversees the management of the system 10, but also includes workers who perform recovery work when some kind of abnormality occurs in the system 10 and workers who work near the parts assembly process. By keeping the vehicle 100 in the stopped state and contacting the manager, it is possible to prevent the occurrence of an abnormality in the system 10 and the delay in the production of the vehicle 100 from continuing.

[0049] The following describes the control of the assembling robot 300. In step S302, the robot control unit 315 determines whether or not an assembling instruction has been received. If it is determined that an assembling instruction has not been received (step S302: No), the robot control unit 315 repeatedly executes step S302.

[0050] If it is determined that an assembly instruction has been received (step S302: Yes), the robot control unit 315 assembles the part onto the vehicle 100 in step S304.

[0051] In step S306, the robot control unit 315 determines whether an assembly error has occurred. If it is determined that an assembly error has not occurred (step S306: No), in other words, if the moving and assembling to the vehicle 100 has been successful, the above-described step S302 is executed again.

[0052] If it is determined that an assembly error has occurred (step S306: Yes), the robot control unit 315 transmits an error signal to the server device 200 in step S308.

[0053] In step S310, the robot control unit 315 retreats the part. More specifically, the robot control unit 315 moves the part to a position where it will not interfere with the vehicle 100. Thereafter, the above-described step S302 is executed again.

[0054] According to the system 10 of the embodiment described above, if a part cannot be assembled to the vehicle 100 by mobile assembly, a stop instruction is sent to the vehicle 100 and a reassembly instruction is sent to the assembly robot 300. Therefore, even if a part cannot be assembled to the vehicle 100 by mobile assembly, it is possible to stop the vehicle 100 and attempt to reassemble the part in a state where the difficulty of assembling the part is reduced, and the part can be assembled appropriately to the vehicle 100.

[0055] Furthermore, if the parts can be assembled through reassembly control, the vehicle resumes traveling, which prevents the increase in time required to manufacture the vehicle 100 compared to a configuration in which the vehicle remains stopped.

[0056] In addition, the server device 200 is equipped with a robot control command unit 218 that creates operation control signals and transmits the created operation control signals to the assembly robot 300, thereby preventing the control on the assembly robot 300 side from becoming complicated.

[0057] B. Second embodiment: 9 is an explanatory diagram showing the configuration of an assembly robot 300a according to the second embodiment. The assembly robot 300a according to the second embodiment differs from the assembly robot 300 according to the first embodiment in that the processor 311a functions not only as a robot control unit 315 but also as an operation control signal generation unit 317. The other configuration of the assembly robot 300a according to the second embodiment is the same as that of the assembly robot 300 according to the first embodiment, so the same components are denoted by the same reference numerals and detailed description thereof will be omitted.

[0058] The operation control signal generation unit 317 receives an assembly instruction from the robot control command unit 218 included in the server device 200 and generates an operation control signal. In this embodiment, the assembly instruction received from the robot control command unit 218 may be a signal that only commands the assembly robot 300 to start controlling the assembly of a part. Upon receiving such an assembly instruction, the operation control signal generation unit 317 identifies the assembly position of the part relative to the vehicle 100 using the detection results of a sensor (not shown), such as a camera, that the assembly robot 300a has, and autonomously generates an operation control signal. In this embodiment, the robot control unit 315 controls each unit of the assembly robot 300a, including the arm unit 320, in accordance with the operation control signal generated by the operation control signal generation unit 317.

[0059] According to the system 10 equipped with the assembly robot 300a of the second embodiment described above, the assembly robot 300a is equipped with the operation control signal generator 317, and therefore the assembly robot 300a can be autonomously controlled using the operation control signal that it has generated itself. This eliminates the need for processing in the server device 200 to control the assembly robot 300a, and prevents the control on the server device 200 side from becoming complicated.

[0060] C. Third embodiment: 10 is a block diagram showing the configuration of a system 10v in the third embodiment. This embodiment differs from the first embodiment in that the system 10v does not include a server device 200 and that the vehicle 100v includes a vehicle control device 110v. Furthermore, the vehicle 100v in this embodiment can travel by autonomous control of the vehicle 100v. The other configurations are the same as those in the first embodiment unless otherwise specified.

[0061] In this embodiment, the processor 111v of the vehicle control device 110v executes a program PG1 stored in the memory 112v, thereby functioning as a vehicle control unit 115v, a calculation unit 190, an error information acquisition unit 192, a stop instruction unit 194, and a robot control command unit 196. The vehicle control unit 115v generates a driving control signal using vehicle position information, outputs the generated driving control signal to operate the actuator group 120, and thereby enables the vehicle 100v to drive by autonomous control. In this embodiment, in addition to the program PG1, the memory 112v pre-stores a detection model DM, a reference route RR, and a stop flag SF. The vehicle control device 110v in the third embodiment corresponds to the "control device" in this disclosure. The vehicle control unit 115v corresponds to the "mobile object control unit" in this disclosure.

[0062] FIG. 11 is a flowchart showing a processing procedure for controlling the traveling of the vehicle 100v in the third embodiment. In step S11, the processor 111v acquires vehicle position information using the detection results output from the camera, which is the external sensor 250. In step S11 in this embodiment, the processor 111v acquires vehicle position information using a captured image and vehicle speed, similar to step S1 in FIG. 3. In step S12, the processor 111v determines a target position to which the vehicle 100v should next head. In step S13, the processor 111v generates a traveling control signal for causing the vehicle 100v to travel toward the determined target position. In step S14, the processor 111v controls the actuator group 120 using the generated traveling control signal, thereby causing the vehicle 100v to travel in accordance with parameters represented in the traveling control signal. The processor 111v repeats the acquisition of vehicle position information, determination of the target position, generation of the traveling control signal, and control of the actuator group 120 at a predetermined cycle. According to the system 10v of this embodiment, the vehicle 100v can be driven by autonomous control of the vehicle 100v without remotely controlling the vehicle 100v using the server device 200. Furthermore, similar to the above embodiment, even if a part cannot be assembled to the vehicle 100v by mobile assembly, the system 10v of this embodiment can stop the vehicle 100v and attempt to reassemble the part in a state where the difficulty of assembling the part is reduced, thereby enabling the part to be assembled appropriately to the vehicle 100v.

[0063] D. Other Embodiments: (D1) In the above embodiment, when the stop flag SF is ON, the stop instructing unit 216 transmits a stop instruction to instruct the vehicle 100 to stop, in other words, a stop instruction to decelerate the traveling speed of the vehicle 100 to 0, but the present disclosure is not limited to this. The stop instructing unit 216 may also transmit a deceleration instruction to instruct the vehicle 100 to decelerate to an arbitrary speed, even if it does not come to a complete stop. That is, the stop instructing unit 216 generally instructs the vehicle 100 to decelerate or stop. Note that a deceleration instruction corresponds to the "first instruction" in the present disclosure. Even with this embodiment, when mobile assembly is not possible, mobile assembly can be performed on a vehicle 100 in a state where cooperative control with the assembly robot 300 is less difficult than mobile assembly on a vehicle 100 traveling at a normal speed.

[0064] Furthermore, in a configuration in which a deceleration instruction is sent instead of a stop instruction, in step S210 of the part assembly control shown in Fig. 8, the vehicle control command unit 212 may issue a traveling restart instruction to instruct the vehicle to accelerate from the decelerated state to a normal traveling speed. Note that the traveling restart instruction from the vehicle control command unit 212 may instruct the vehicle to accelerate not only to the normal traveling speed but also to any speed that is faster than the traveling speed at the time when the assembly error occurred. According to this configuration, if the part can be assembled by the reassembly control, the vehicle 100 is accelerated, and therefore, an increase in the time required to manufacture the vehicle 100 can be suppressed compared to a configuration in which the decelerated state continues.

[0065] (D2) In the above embodiment, when the state of the stop flag SF is ON, the stop instruction unit 216 transmits a stop instruction to the vehicle 100, but the present disclosure is not limited to this. For example, if the vehicle 100 is configured to automatically stop when a load equal to or greater than a predetermined value is applied, the stop instruction unit 216 may not transmit a stop instruction to the vehicle 100. In such a configuration, the server device 200 may not include the stop instruction unit 216. Even with such a configuration, the same effects as those of the above embodiment can be achieved.

[0066] (D3) In the above embodiment, when the state of the stop flag SF is ON, the stop instruction unit 216 transmits an emergency stop signal as a stop instruction, but the present disclosure is not limited to this. In addition to the emergency stop signal, the vehicle control instruction unit 212 may transmit a traveling control signal instructing the vehicle 100 to stop. In such a configuration, the vehicle control instruction unit 212 corresponds to the "first instruction unit" in the present disclosure. This configuration also achieves the same effects as the above embodiment. In addition, since the traveling control signal instructing the vehicle 100 to stop is transmitted in addition to the emergency stop signal, the vehicle 100 can be stopped more reliably. Note that the traveling control signal instructing the vehicle 100 to stop may be transmitted instead of the emergency stop signal. In such a configuration, the server device 200 does not need to include the stop instruction unit 216.

[0067] (D4) In the above embodiment, the error information acquisition unit 214 acquires an error signal as assembly error information, but the present disclosure is not limited to this. For example, the error information acquisition unit 214 may acquire the detection result of the external sensor 250 as the assembly error information. In such a configuration, the error information acquisition unit 214 may acquire an image captured by a camera serving as the external sensor 250, and detect the positional relationship between the vehicle 100 and the component in the captured image, thereby determining whether the component has been successfully assembled onto the vehicle 100. This configuration also achieves the same effects as the above embodiment.

[0068] (D5) In the above embodiment, the server device 200 controls the vehicle 100 on which the part is to be assembled depending on whether the mobile assembly was successful, but the present disclosure is not limited to this. The server device 200 may also control vehicles other than the vehicle 100 on which the part is to be assembled depending on whether the mobile assembly was successful. When the mobile assembly fails and the vehicle 100 on which the part is to be assembled is stopped, the server device 200 may instruct other vehicles traveling following the vehicle 100 (hereinafter also referred to as "following vehicles") to stop or slow down, in addition to step S204 described above. This embodiment can prevent the following moving body from being hindered from traveling due to a decrease in the distance between the moving body on which the mobile assembly was not successful and the following moving body.

[0069] Furthermore, when the part cannot be assembled even by reassembly, in addition to step S212 described above, server device 200 may instruct the following vehicle to stop or slow down, in other words, instruct the following vehicle to continue to be stopped or slow down. According to this configuration, in a situation where reassembly is not possible, that is, in a situation where there is a possibility that some kind of abnormality has occurred, it is possible to suppress the traveling of vehicle 100 or the following moving body.

[0070] Furthermore, when the server device 200 stops the vehicle 100 on which the part is to be assembled due to a failed movement assembly, the server device 200 may reset the part assembly position, the part assembly angle, and the part assembly speed for the following vehicle when performing movement assembly on the following vehicle. The new part assembly position, the part assembly angle, and the part assembly speed for the following vehicle may be determined, for example, by adding a predetermined correction amount, or may be determined using the detection results of the external sensor 250. According to this configuration, the mode of movement assembly for the following vehicle can be changed based on the success or failure of the movement assembly for the preceding vehicle, thereby preventing the movement assembly for the following vehicle from failing.

[0071] Furthermore, when the moving assembly fails and the vehicle 100 on which the part is to be assembled is stopped, the server device 200 may execute stop assembly instead of moving assembly for the following vehicle. According to this configuration, even if the moving assembly fails, it is possible to attempt to re-assemble the part using stop assembly, which is easier to assemble the part than moving assembly, and the part can be properly assembled on the vehicle 100.

[0072] (D6) In the above embodiment, the operation control signal generation unit 317 receives an assembly instruction from the robot control command unit 218 included in the server device 200 and generates an operation control signal, but the present disclosure is not limited to this. The operation control signal generation unit 317 may generate an operation control signal when it is detected that the vehicle 100 is located at a part assembly position, for example, using the detection results of a sensor (not shown), such as a camera, included in the assembly robot 300a, without receiving an assembly instruction from the robot control command unit 218. In other words, the assembly robot 300 may perform the operation of assembling a part on the vehicle 100 without receiving an instruction from another device. This configuration also achieves the same effects as the above embodiment.

[0073] (D7) In each of the above embodiments, the external sensor 250 is a camera. However, the external sensor 250 does not have to be a camera and may be, for example, a distance measuring device. The distance measuring device may be, for example, a LiDAR (Light Detection and Ranging). In this case, the detection result output by the external sensor 250 may be three-dimensional point cloud data representing the vehicle 100. In this case, the server device 200 or the vehicle 100 may acquire vehicle position information by template matching using the three-dimensional point cloud data as the detection result and reference point cloud data prepared in advance.

[0074] (D8) In the first embodiment, the processes from obtaining vehicle position information to generating a driving control signal are executed by the server device 200. However, at least a part of the processes from obtaining vehicle position information to generating a driving control signal may be executed by the vehicle 100. For example, the following forms (1) to (3) may be used.

[0075] (1) The server device 200 may acquire vehicle position information, determine a target position to which the vehicle 100 should next head, and generate a route from the current location of the vehicle 100 indicated in the acquired vehicle position information to the target position. The server device 200 may generate a route to a target position between the current location and the destination, or may generate a route to the destination. The server device 200 may transmit the generated route to the vehicle 100. The vehicle 100 may generate a driving control signal so that the vehicle 100 drives on the route received from the server device 200, and control the actuator group 120 using the generated driving control signal.

[0076] (2) Server device 200 may acquire vehicle position information and transmit the acquired vehicle position information to vehicle 100. Vehicle 100 may determine a target position to which vehicle 100 should next head, generate a route from the current location of vehicle 100 indicated in the received vehicle position information to the target position, generate a driving control signal so that vehicle 100 travels on the generated route, and control actuator group 120 using the generated driving control signal.

[0077] (3) In the above embodiments (1) and (2), the vehicle 100 may be equipped with an internal sensor, and detection results output from the internal sensor may be used for at least one of generating a route and generating a driving control signal. The internal sensor is a sensor equipped in the vehicle 100. The internal sensor may include, for example, a sensor that detects the motion state of the vehicle 100, a sensor that detects the operating state of each part of the vehicle 100, and a sensor that detects the environment around the vehicle 100. Specifically, the internal sensor may include, for example, a camera, LiDAR, millimeter-wave radar, an ultrasonic sensor, a GPS sensor, an acceleration sensor, a gyro sensor, and the like. For example, in the above embodiment (1), the server device 200 may acquire the detection results of the internal sensor and reflect the detection results of the internal sensor in the route when generating a route. In the above embodiment (1), the vehicle 100 may acquire the detection results of the internal sensor and reflect the detection results of the internal sensor in the driving control signal when creating a driving control signal. In the above embodiment (2), the vehicle 100 may acquire the detection results of the internal sensor and reflect the detection results of the internal sensor in the route when generating a route. In the above embodiment (2), the vehicle 100 may acquire the detection result of the internal sensor, and may reflect the detection result of the internal sensor in the driving control signal when creating the driving control signal.

[0078] (D9) In the third embodiment, the vehicle 100v may be equipped with an internal sensor, and detection results output from the internal sensor may be used for at least one of generating a route and generating a driving control signal. For example, the vehicle 100v may acquire the detection results of the internal sensor and, when generating a route, reflect the detection results of the internal sensor in the route. The vehicle 100v may acquire the detection results of the internal sensor and, when creating a driving control signal, reflect the detection results of the internal sensor in the driving control signal.

[0079] (D10) In the above embodiment in which the vehicle 100 can travel by autonomous control, the vehicle 100 acquires vehicle position information using the detection results of the external sensor 250. Alternatively, the vehicle 100 may be equipped with an internal sensor, and the vehicle 100 may acquire vehicle position information using the detection results of the internal sensor, determine a target position to which the vehicle 100 should next travel, generate a route from the current location of the vehicle 100 represented in the acquired vehicle position information to the target position, create a driving control signal for traveling along the generated route, and control the actuators of the vehicle 100 using the generated driving control signal. In this case, the vehicle 100 can travel without using any of the detection results of the external sensor 250. The vehicle 100 may acquire a target arrival time or congestion information from outside the vehicle 100 and reflect the target arrival time or congestion information in at least one of the route and the driving control signal. Furthermore, all of the functional configurations of the system 10 may be provided in the vehicle 100. In other words, the processing realized by the system 10 in the present disclosure may be realized by the vehicle 100 alone. In such a configuration, the success or failure of assembling a part to vehicle 100 can be determined, for example, by utilizing the connection status between the part and the in-vehicle LAN, and if a connection with a specific part is not established at a specific timing, it can be detected that the part could not be moved and assembled.

[0080] (D11) In the first embodiment described above, the server device 200 automatically generates the driving control signal to be transmitted to the vehicle 100. However, the server device 200 may generate the driving control signal to be transmitted to the vehicle 100 in accordance with the operation of an external operator located outside the vehicle 100. For example, the external operator may operate a control device including a display that displays an image output from the external sensor 250, a steering wheel for remotely controlling the vehicle 100, an accelerator pedal, a brake pedal, and a communication device for communicating with the server device 200 via wired or wireless communication, and the server device 200 may generate the driving control signal in accordance with the operation applied to the control device.

[0081] (D12) The vehicle 100 may be manufactured by combining multiple modules. A module refers to a unit composed of one or more parts grouped according to the configuration or function of the vehicle 100. For example, the platform of the vehicle 100 may be manufactured by combining a front module that forms the front portion of the platform, a central module that forms the center portion of the platform, and a rear module that forms the rear portion of the platform. The number of modules that form the platform is not limited to three, but may be two or less, or four or more. In addition to or instead of the platform, parts of the vehicle 100 that are different from the platform may be modularized. The various modules may include any exterior parts such as a bumper or a grille, or any interior parts such as a seat or a console. Any type of mobile object, not limited to the vehicle 100, may be manufactured by combining multiple modules. Such a module may be manufactured, for example, by joining multiple parts using welding or fasteners, or by integrally molding at least a portion of the module into a single component by casting. The molding method of integrally molding at least a portion of the module into a single component is also called gigacasting or megacasting. By using Gigacast, each part of a moving body that has conventionally been formed by joining multiple parts can be formed as a single part. For example, the front module, center module, and rear module described above may be manufactured using Gigacast.

[0082] (D13) Transporting vehicle 100 using the unmanned driving of vehicle 100 is also called "self-propelled transport." The configuration for realizing self-propelled transport is also called a "vehicle remote-controlled autonomous transport system." The production method for producing vehicle 100 using self-propelled transport is also called "self-propelled production." In self-propelled production, for example, at a factory KJ where vehicle 100 is manufactured, at least a portion of the transport of vehicle 100 is realized by self-propelled transport.

[0083] (D14) In each of the above embodiments, some or all of the functions and processes implemented by software may be implemented by hardware. Furthermore, some or all of the functions and processes implemented by hardware may be implemented by software. Hardware for implementing the various functions in each of the above embodiments may be implemented by various circuits, such as integrated circuits or discrete circuits.

[0084] The present disclosure is not limited to the above-described embodiments and can be realized in various configurations without departing from the spirit thereof. For example, the technical features in the embodiments corresponding to the technical features in each aspect described in the Summary of the Invention section can be appropriately replaced or combined to solve some or all of the above-described problems or achieve some or all of the above-described effects. Furthermore, if a technical feature is not described as essential in this specification, it can be appropriately deleted. [Explanation of symbols]

[0085] 10, 10v...system, 100, 100v...vehicle, 110, 110v...vehicle control device, 111, 111v...processor, 112, 112v...memory, 113...input / output interface, 114...internal bus, 115, 115v...vehicle control unit, 120...actuator group, 130...communication device, 190...calculation unit, 192...error information acquisition unit, 194...stop instruction unit, 196...robot control command unit, 200...server device, 201...processor, 202...memory, 203...input / output interface, 204...internal bus, 205...communication device, 210...calculation unit, 212...vehicle control command unit, 214...error information Information acquisition unit, 216...stop instruction unit, 218...robot control command unit, 250...external sensor, 300, 300a...assembly robot, 310...robot control device, 311, 311a...processor, 312...memory, 313...input / output interface, 314...internal bus, 315...robot control unit, 317...motion control signal generation unit, 320...arm unit, 330...communication device, DB...database, DM...detection model, GA...global coordinate system, KJ...factory, PG1, PG2, PG3...program, PL1...first location, PL2...second location, PL3...third location, RR...reference path, SF...stop flag, SR...travel path

Claims

1. A control device that controls assembly of parts into a moving body in a manufacturing process of the moving body, an information acquisition unit that acquires first information that is information relating to an assembly device that performs mobile assembly, which is assembly of the part on the moving body that is moving in an unmanned operation, being unable to assemble the part; a first instruction unit that issues a first instruction to the moving object to decelerate or stop when the first information is acquired; a second instruction unit that, after transmitting the first instruction, issues a second instruction to the assembly device to instruct the assembly device to reassemble the part onto the moving body that has slowed down or stopped; Equipped with Control device.

2. The control device according to claim 1, When the first information is acquired, the first instruction unit further instructs a subsequent moving body, which is another moving body moving following the moving body, to slow down or stop. Control device.

3. The control device according to claim 1, When the part can be assembled to the moving body by the reassembly, the moving body is further instructed to accelerate or resume movement. Control device.

4. The control device according to any one of claims 1 to 3, When the part cannot be assembled to the movable body by the reassembly, the first instruction unit instructing the moving object to continue in a decelerated or stopped state; instructing a subsequent moving body, which is another moving body moving following the moving body, to slow down or stop; and further performing at least one of the following: Control device.

5. The control device according to any one of claims 1 to 3, further comprising an operation control signal generation unit that generates an operation control signal for operating the assembly device; the second instruction unit transmits the operation control signal as the second instruction to the assembly device; Control device.

6. The control device according to claim 4, further comprising an operation control signal generation unit that generates an operation control signal for operating the assembly device; the second instruction unit transmits the operation control signal as the second instruction to the assembly device; Control device.

7. 1. A system comprising: The control device according to any one of claims 1 to 3; the assembly device; Equipped with The assembly device a receiving unit that receives the second instruction; an operation control signal generation unit that receives the second instruction and generates an operation control signal for operating the assembly device; a device control unit that controls the operation of the assembly device in accordance with the operation control signal; Equipped with system.

8. 1. A system comprising: The control device according to claim 4; the assembly device; Equipped with The assembly device a receiving unit that receives the second instruction; an operation control signal generation unit that receives the second instruction and generates an operation control signal for operating the assembly device; a device control unit that controls the operation of the assembly device in accordance with the operation control signal; Equipped with system.

9. An assembly device that assembles parts to a moving body, and a device control unit that, when the part cannot be assembled to the moving body that is moving in an unmanned operation, executes reassembly, which is assembly of the part to the moving body that has slowed down or stopped. Assembly equipment.

10. 10. The assembly device according to claim 9, an operation control signal generating unit that generates an operation control signal for operating the assembly device; the device control unit executes the reassembly in accordance with the operation control signal generated by the operation control signal generation unit. Assembly equipment.

11. A mobile body that can move by unmanned operation in its own manufacturing process, slowing down or stopping the moving body when the moving assembly, which is the assembly of parts to the moving body during the unmanned operation, cannot be performed; When the part can be assembled to the moving body by reassembly, which is assembly of the part to the moving body that has been decelerated or stopped, resuming acceleration or movement; A mobile object control unit that executes the following: Mobile object.

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